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.. calling move_group.computeCartesianPath(..) as you are already doing.

My suggestion:

1. open the file
2. read line by line
3. for each line:
   1. create a geometry_msgs::Pose
   2. set it's x, y and z to the values from the current line
   3. add it to the vector

done.

.. calling move_group.computeCartesianPath(..) as you are already doing.

My suggestion:

1. open the file
2. read line by line
3. for each line:
   1. a. create a geometry_msgs::Pose
   2. a. set it's x, y and z to the values from the current line
   3. line a. add it to the vector

done.

.. calling move_group.computeCartesianPath(..) as you are already doing.

My suggestion:

1. open the file
2. read line by line
3. for each line: a.
   1. create a geometry_msgs::Pose
   a.
   2. set it's x, y and z to the values from the current line a. line
   3. add it to the vector

done.